Scrubbing method of scrubbing robot

Abstract

The invention discloses a scrubbing method of a scrubbing robot. The scrubbing robot comprises a cleaning body and a scraping module. The cleaning body is attached to a to-be-cleaned face, a cleaning piece is arranged at the bottom of the cleaning body, and a walking module used for walking on the to-be-cleaned face is further arranged on the cleaning body. The scraping module comprises a scraping strip movably arranged on the periphery of the cleaning body, and the scraping strip has a working state in which the scraping strip abuts against the face to be cleaned and a waiting state in which the scraping strip is separated from the face to be cleaned. The scrubbing method of the scrubbing robot comprises the steps that a cleaning instruction is received; and according to the type of the cleaning instruction, controlling the cleaning main body to perform a corresponding cleaning operation mode. The current walking direction of the cleaning body is obtained; and according to the current walking direction, the front side of the cleaning body is determined, and the control strategies of the walking module and the scraping module are adjusted, so that at least the scraping strip located on the front side is switched to the working state.

Description

Technical Field

[0001] This invention relates to the field of cleaning system technology, and in particular to a scrubbing method for a scrubbing robot. Background Technology

[0002] In order to clean the surface of windows, inefficient and dangerous manual window cleaning has been gradually replaced by efficient and safe machines, and window cleaning robots have emerged.

[0003] Window cleaning machines clean glass by adsorbing it onto the glass using an adsorption component. During the cleaning process, the cleaning element (cloth) at the bottom presses against the glass. If small, hard particles (such as fine sand) are adhering to the window, these particles can get into the cloth during the cleaning process. The cloth then carries these particles with it while cleaning the glass, which can easily scratch the glass. Therefore, it is necessary to improve the existing technology to overcome the aforementioned defects. Summary of the Invention

[0004] The main objective of this invention is to propose a cleaning method for a cleaning robot, which aims to solve the problem in related technologies where window cleaning machines easily scratch glass during the cleaning process due to hard particles trapped in the rag.

[0005] To achieve the above objectives, this invention proposes a cleaning method for a cleaning robot. The cleaning robot includes a cleaning body and a scraping module. The cleaning body is attached to a surface to be cleaned, and its bottom is provided with a cleaning component for the surface to be cleaned. It also has a walking module for moving on the surface to be cleaned. The scraping module includes a scraping strip movably disposed on the outer periphery of the cleaning body. The scraping strip has a working state of contacting the surface to be cleaned and a waiting state of separation from the surface to be cleaned. The cleaning method of the cleaning robot includes:

[0006] Receive cleaning instructions;

[0007] According to the type of cleaning instruction, control the cleaning entity to perform the corresponding cleaning operation mode;

[0008] Obtain the current walking direction of the cleaning subject;

[0009] Based on the current walking direction, the front side of the cleaning body is determined, and the control strategies of the walking module and the scraping module are adjusted so that at least the scraping strip located on the front side switches to the working state.

[0010] Optionally, the scraping module includes a scraping drive assembly, which is movably disposed on the cleaning body and driven to connect to the scraping strip;

[0011] The steps for controlling the scraper to switch to the working state include:

[0012] The scraping drive assembly is activated and the scraping strip is moved to the working position so that the scraping strip is in the working state, wherein the working position is configured such that the scraping strip abuts against the surface to be cleaned and partially extends out of the outer periphery of the cleaning body.

[0013] Optionally, the cleaning body has a bottom surface that fits against the surface to be cleaned, and the scraping drive assembly includes a lifting drive part disposed within the cleaning body. The lifting drive part is set at an acute angle with the bottom surface, and the lifting drive part can move along a straight line and drive the scraping strip.

[0014] The steps of controlling the wiping drive assembly to start and driving the wiping strip to move to the working position include:

[0015] The lifting drive unit is controlled to move a first preset distance toward the surface to be cleaned, so as to drive the scraper to the working position.

[0016] Optionally, the scraping strip has opposing connecting sides and scraping sides;

[0017] The scraping module includes a flipping drive unit movably disposed within the cleaning body, the flipping drive unit driving the connection side to cause the scraping strip to flip around its connection side;

[0018] The steps of controlling the wiping drive assembly to start and driving the wiping strip to move to the working position include:

[0019] The flipping drive unit is controlled to flip towards the surface to be cleaned by a first preset angle, so as to drive the scraper to move to the working position.

[0020] Optionally, the scrubbing robot further includes a distance detection sensor to detect the distance between the edge of the cleaning component and the adjacent surface of the surface to be cleaned, and the distance between the outer edge of the cleaning body and the adjacent surface of the surface to be cleaned;

[0021] The step of controlling the scraper to switch to the working state further includes:

[0022] Obtain the first actual distance between the edge of the cleaning component and its adjacent surface;

[0023] Obtain the second actual distance between the outer edge of the cleaning body and the adjacent surface;

[0024] Calculate the difference in actual distance based on the first actual distance and the second actual distance;

[0025] The driving strategy of the scraper is adjusted based on the actual distance difference.

[0026] Optionally, the working position includes a first working position, which is configured such that the scraper abuts against the surface to be cleaned and extends a first length from the outer periphery of the cleaning body;

[0027] The step of adjusting the driving strategy of the scraper strip based on the actual spacing difference includes:

[0028] If the actual spacing difference is within the preset difference range, the adjacent surfaces are determined to be roughly flat.

[0029] The scraping drive assembly is activated, and the scraping strip is moved to the first working position.

[0030] Optionally, the working position includes a second working position, which is configured such that the scraper abuts against the surface to be cleaned and extends a second length from the outer periphery of the cleaning body;

[0031] The scraping module further includes a position adjustment component, which is movably disposed on the cleaning body and drivenly connected to the scraping drive component;

[0032] The step of adjusting the driving strategy of the scraper strip based on the actual spacing difference further includes:

[0033] If the actual spacing difference exceeds the preset difference range, the adjacent surfaces are determined to be uneven.

[0034] Based on the actual distance difference, the position adjustment component is activated, and the scraping drive component is driven to move to the second target position.

[0035] The scraping drive assembly is activated, and the scraping strip is moved to the second working position.

[0036] Optionally, the step of adjusting the control strategy of the scraping module further includes:

[0037] Control the scraper strip located on the front side to switch to the working state;

[0038] Control the scraper strips located on the other sides to switch to the waiting state.

[0039] Optionally, the step of adjusting the control strategy of the scraping module further includes:

[0040] Control the scraper strip located on the front side to switch to the working state;

[0041] Control the scraper strips located on the remaining sides to switch to the working state.

[0042] Optionally, the scrubbing robot includes a pressure sensor disposed on the scraper strip, used to detect the resistance of foreign objects encountered by the scraper strip during the walking process of the walking module;

[0043] The step of adjusting the control strategies of the walking module and the scraping module further includes:

[0044] Obtain the actual resistance from foreign objects encountered by the scraping strip;

[0045] The control strategies of the walking module and the scraping module are adjusted based on the target resistance threshold and the actual foreign object resistance.

[0046] Optionally, the target resistance threshold includes a minimum resistance threshold and a maximum resistance threshold;

[0047] The steps of adjusting the control strategies of the walking module and the scraping module based on the target resistance threshold and the actual foreign object resistance include:

[0048] When the actual foreign object resistance is less than the minimum resistance threshold, the walking module is controlled to maintain a first speed of walking, and the scraper is controlled to maintain a first pressure contact with the surface to be cleaned.

[0049] When the actual foreign object resistance is greater than the minimum resistance threshold and less than the maximum resistance threshold, the walking module is controlled to walk at a second speed, and the scraping strip is controlled to move to contact the surface to be cleaned with a second pressure, wherein the second speed is less than the first speed, and the second pressure is greater than the first pressure;

[0050] When the actual resistance of the foreign object exceeds the maximum resistance threshold, the foreign object is marked as a wall, and the walking module is controlled to change direction and continue cleaning around it.

[0051] Optionally, the target resistance threshold includes a maximum resistance threshold;

[0052] The cleaning robot also includes a voice broadcast module, and the alarm module is located in the cleaning body;

[0053] The cleaning method of the cleaning robot also includes:

[0054] When the actual resistance from the foreign object exceeds the maximum resistance threshold, the voice broadcast module is activated to alert the user.

[0055] Optionally, the target resistance threshold includes a maximum resistance threshold;

[0056] The scrubbing robot also includes a wireless transmission module, which is communicatively connected to the controller of the scrubbing robot and is used for wireless communication with a mobile terminal.

[0057] The cleaning method of the cleaning robot also includes:

[0058] When the actual foreign object resistance exceeds the maximum resistance threshold, the wireless transmission module is controlled to send a cleaning abnormality reminder signal to the mobile terminal.

[0059] Optionally, the cleaning robot further includes a gyroscope sensor and an accelerometer sensor. The gyroscope sensor is located at the geometric center of the cleaning body to detect the rotation angle and angular velocity of the cleaning body, and the accelerometer sensor is located at the bottom of the cleaning body to detect the acceleration of the cleaning body.

[0060] The steps for obtaining the current walking direction of the cleaning subject include:

[0061] Obtain the current rotation angle and current angular velocity of the cleaning body;

[0062] Obtain the current acceleration of the cleaning subject;

[0063] The current walking direction of the cleaning subject is obtained based on the current rotation angle, the current angular velocity, and the current acceleration.

[0064] The technical solution provided by this invention has at least the following advantages:

[0065] The present invention provides a cleaning method for a cleaning robot, the cleaning robot comprising a cleaning body and a scraping module. The cleaning body moves across the surface to be cleaned via a walking module, and a cleaning component is located at the bottom of the cleaning body to clean the surface. The scraping module includes scraping strips movably disposed on the outer periphery of the cleaning body. Upon receiving a cleaning instruction, the cleaning body adjusts to the corresponding cleaning operation mode according to the type of cleaning instruction. At this time, the walking module is activated, allowing the cleaning body to move across the surface to be cleaned, while the cleaning component cleans the surface. The current walking direction of the cleaning body is obtained, and one side of the cleaning body in the current walking direction is designated as the front side of the cleaning body. Simultaneously, the control strategies of the walking module and the scraping module are adjusted to ensure that at least the scraping strip located on the front side is switched to the working state, that is, at least the scraping strip located on the front side is in contact with the surface to be cleaned. During the cleaning process, the scraping strip located on the front side of the cleaning body can first scrape off small hard particles adhering to the surface to be cleaned, preventing particles from entering the cleaning component and scratching the surface to be cleaned. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0067] Figure 1 This is a first flowchart of a cleaning method using a cleaning robot provided by the present invention;

[0068] Figure 2 The second flowchart of a scrubbing method using a scrubbing robot provided by the present invention;

[0069] Figure 3 The third flowchart of a cleaning method for a cleaning robot provided by the present invention;

[0070] Figure 4 The fourth flowchart of a cleaning method for a cleaning robot provided by the present invention;

[0071] Figure 5 The fifth flowchart of a cleaning method for a cleaning robot provided by the present invention;

[0072] Figure 6 The sixth flowchart of a cleaning method for a cleaning robot provided by the present invention;

[0073] Figure 7 The seventh flowchart of a cleaning method for a cleaning robot provided by the present invention;

[0074] Figure 8 This is a schematic diagram of a structure of an embodiment of a scrubbing robot provided by the present invention;

[0075] Figure 9 for Figure 8 Another structural diagram of the cleaning robot.

[0076] Explanation of icon numbers:

[0077] 100 scrubbing robots; 1 cleaning body; 11 cleaning components; 2 scraping modules; 21 scraping strips; 3 walking modules.

[0078] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0079] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0080] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0081] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0082] Cleaning robots are mainly used in homes, businesses, and special environments. They can automatically clean surfaces such as floors, walls, and windows, significantly reducing manual labor. Taking a window cleaning robot as an example, it uses an adsorption component to attach to the glass for cleaning. Its walking module propels the robot along the glass. During the cleaning process, the cleaning component (cloth) at the bottom presses against the glass for cleaning.

[0083] To avoid scratching the glass when cleaning it, this invention improves the cleaning method of the cleaning robot 100. The cleaning process of the cleaning robot 100 is described in detail below with reference to the accompanying drawings.

[0084] Please see Figure 8 and Figure 9The cleaning robot 100 includes a cleaning body 1 and a scraping module 2. The cleaning body 1 is attached to the surface to be cleaned, and a cleaning component 11 is provided on its bottom to clean the surface. A walking module 3 is also provided on the cleaning body for moving on the surface to be cleaned. During the cleaning process, the cleaning body 1 is attached to the surface to be cleaned and presses the cleaning component 11 firmly against the surface to clean it. Simultaneously, the walking module 3 drives the cleaning body 1 to move on the surface to be cleaned, thereby enabling the cleaning body 1 to clean different areas of the surface.

[0085] Furthermore, a scraping module 2 is provided on the cleaning body 1. The scraping module 2 includes a scraping strip 21 movably disposed on the outer periphery of the cleaning body. The scraping strip 21 has a working state that abuts against the surface to be cleaned and a waiting state that is separated from the surface to be cleaned.

[0086] Please see Figure 1 The cleaning methods of the cleaning robot include:

[0087] S10: Receive cleaning instructions;

[0088] S20: Control the cleaning entity to perform the corresponding cleaning operation mode according to the type of cleaning instruction;

[0089] S30: Obtain the current walking direction of the cleaning subject;

[0090] S40: Based on the current walking direction, determine the front side of the cleaning body and adjust the control strategies of the walking module and the scraping module to at least switch the scraping strip located on the front side to the working state.

[0091] The cleaning method of the cleaning robot provided by this invention involves the cleaning body adjusting to the corresponding cleaning operation mode after receiving a cleaning instruction, based on the type of the instruction. At this time, the walking module is activated, allowing the cleaning body to move across the surface to be cleaned, while the cleaning components clean the surface. The current walking direction of the cleaning body is obtained, and one side of the cleaning body in the current walking direction is designated as the front side of the cleaning body.

[0092] Simultaneously adjust the control strategies of the walking module and the scraping module to ensure that at least the front scraping strip is switched to the working state, meaning that at least the front scraping strip is in contact with the surface to be cleaned. During the cleaning process, the scraping strip at the front of the cleaning body can first scrape off the small hard particles adhering to the surface to be cleaned, preventing particles from entering the cleaning components and scratching the surface.

[0093] This invention does not impose specific limitations on the shape of the cleaning robot; the shape of the cleaning robot can be set to one of the following: circular, square, or polygonal. Taking a square shape as an example...

[0094] Understandably, cleaning robots are typically programmed to move in four directions, such as forward, backward, left, and right. The front of the cleaning robot is adjusted according to its direction of movement. For example, when the cleaning robot moves forward, the side facing forward is designated as the front. When the cleaning robot moves backward, the side facing backward is designated as the front.

[0095] This invention does not impose specific limitations on the movement mode of the scrubbing robot. In one embodiment, the walking module includes a linear walking section and a turning section. In the initial state, the scrubbing robot is positioned in a forward-backward direction, and the linear walking section can drive the cleaning body to move in the forward-backward direction. When the scrubbing robot needs to turn, the turning section drives the cleaning body to rotate 90 degrees. At this time, the scrubbing robot is positioned in a left-right direction, and the linear walking section can drive the cleaning body to move in the left-right direction.

[0096] In another embodiment, the walking module includes two linear walking units. Initially, the scrubbing robot is positioned forward and backward, with one linear walking unit driving the cleaning body in this direction. When the scrubbing robot needs to turn, the other linear walking unit drives the cleaning body in the left and right direction.

[0097] This invention does not impose a specific limit on the number of scratch strips.

[0098] In applications where the walking module includes a straight-line walking section and a turning section, two scraper strips are provided, positioned on opposite sides of the cleaning body. Initially, the cleaning robot faces forward and backward, with the two scraper strips also positioned in this direction. When the cleaning robot moves forward, the front scraper strip activates; when it moves backward, the rear scraper strip activates. The scraper strips operate in the same manner when the cleaning body turns.

[0099] In applications where the walking module includes two linear walking units, four scraping strips are installed, positioned around the perimeter of the cleaning unit. When one linear walking unit propels the cleaning unit forward, the front scraping strip is activated; when the robot moves backward, the rear scraping strip is activated. Similarly, when the other linear walking unit propels the cleaning unit to the left, the left scraping strip is activated; when the robot moves to the right, the right scraping strip is activated.

[0100] The following explanation uses "setting two scratch strips" as an example.

[0101] In one embodiment, please refer to Figure 2 Step S40, adjusting the control strategy of the scraping module, includes:

[0102] S401: Controls the front-side scraper bar to switch to working mode;

[0103] S402: Control the scraper bars located on the other sides to switch to standby state.

[0104] In this embodiment, during the cleaning process, only the front scraper bar switches to the working state. Taking the cleaning body moving in the front-back direction as an example, in the initial position, the cleaning body is set in the front-back direction, and the two scraper bars on it include a front scraper bar and a rear scraper bar.

[0105] As the scrubbing robot moves forward, the side facing forward is designated as the front side. The front scraper is then activated and brought into working mode. At this point, the front scraper comes into contact with the surface to be cleaned, scraping away small, hard particles adhering to the surface before cleaning the parts. The rear scraper remains in a waiting state and separates from the surface to be cleaned.

[0106] Similarly, when the scrubbing robot moves backward, the side facing backward is designated as the front side. The rear scraper is then moved to the working state, where it comes into contact with the surface to be cleaned, scraping away small, hard particles adhering to the surface before cleaning the parts. The front scraper is then kept in the waiting state, separating from the surface to be cleaned.

[0107] In some usage scenarios, the cleaning agent wet-cleans the surface to be cleaned, and watermarks may remain on the surface after cleaning.

[0108] To improve the cleaning effect of the scrubbing robot, in one embodiment, please refer to... Figure 3 Step S40, adjusting the control strategy of the scraping module, includes:

[0109] S401': Controls the front-side scraper bar to switch to working mode;

[0110] S402': Controls the squeegee strips located on the other sides to switch to working status.

[0111] In this embodiment, during the cleaning process, all the scraping strips on the cleaning body are switched to the working state. Taking the cleaning body moving in the front-back direction as an example, in the initial position, the cleaning body is set in the front-back direction, and the two scraping strips on it include a front scraping strip and a rear scraping strip.

[0112] As the scrubbing robot moves forward, the side facing forward is designated as the front side. The front scraper is then activated, bringing it into contact with the surface to be cleaned. Before cleaning the surface, the front scraper removes small, hard particles adhering to it. The rear scraper is then activated, bringing it into contact with the surface to be cleaned. After cleaning the surface, the rear scraper removes water stains.

[0113] Similarly, when the scrubbing robot moves backward, the side facing backward is designated as the front side. The rear scraper is then moved to its working position, where it contacts the surface to be cleaned, scraping away small, hard particles adhering to the surface before cleaning the object. The front scraper is then moved to its working position, contacting the surface to be cleaned, and scraping away water stains after cleaning the object.

[0114] In one embodiment, the scraping module includes a scraping drive assembly, which is movably disposed on the cleaning body and drives the scraping strips. The scraping drive assembly may include at least two independent drive units, each corresponding to one of the two scraping strips. The scraping drive assembly may also drive both scraping strips simultaneously.

[0115] It's understandable that both walls and windows usually have adjacent surfaces to be cleaned. During the cleaning process, when the outer perimeter of the cleaning device comes into contact with these adjacent surfaces, there will be blind spots at the junction of the surfaces to be cleaned and the adjacent surfaces.

[0116] To address this issue, in one embodiment, please refer to... Figure 4 and Figure 5 Step S40, which controls the squeegee to switch to the working state, includes:

[0117] S403: Control the squeegee drive assembly to start and drive the squeegee to move to the working position so that the squeegee is in working condition, wherein the working position is configured such that the squeegee abuts against the surface to be cleaned and partially extends out of the outer periphery of the cleaning body.

[0118] In this embodiment, the scraping drive assembly drives the scraping strip to move. When the scraping strip comes into contact with the surface to be cleaned, a portion of the scraping strip extends beyond the outer periphery of the cleaning body. During the cleaning process of the cleaning body, when the outer periphery of the cleaning body contacts the adjacent surface, the extended scraping strip scrapes the hard-to-clean corners, thereby improving the cleaning effect of the scrubbing robot.

[0119] This invention does not impose specific limitations on the driving method of the scraper strip. The scraper driving assembly can drive the scraper strip to move linearly. The scraper driving assembly can also drive the scraper strip to rotate.

[0120] In one embodiment, the cleaning body has a bottom surface that fits against the surface to be cleaned, and the scraping drive assembly includes a lifting drive part disposed within the cleaning body. The lifting drive part is set at an acute angle to the bottom surface, and the lifting drive part can move along a straight line and drive the connected scraping strip.

[0121] Please see Figure 4 Step S403, which controls the wiping drive assembly to start and drives the wiping strip to the working position, includes:

[0122] S4031: Control the lifting drive unit to move a first preset distance toward the surface to be cleaned, so as to drive the scraper to the working position.

[0123] In this embodiment, the scraping drive assembly drives the scraping strip to move linearly. A lifting drive unit is provided within the cleaning body, and the lifting drive unit is positioned at an acute angle to the bottom surface. When the lifting drive unit extends, it can move not only towards the side closer to the surface to be cleaned, but also towards the outer periphery of the cleaning body. Similarly, when the lifting drive unit retracts, it can move not only away from the side to be cleaned, but also towards the center of the cleaning body.

[0124] By controlling the lifting drive unit to move a first preset distance toward the surface to be cleaned, when the scraper bar comes into contact with the surface to be cleaned, the scraper bar partially extends out of the outer periphery of the cleaning body.

[0125] In one embodiment, the squeegee has opposing connecting sides and squeegee sides. The squeegee module includes a flip drive movably disposed within the cleaning body, the flip drive driving the connecting sides to flip the squeegee around their connecting sides.

[0126] Please see Figure 5 Step S403, which controls the wiping drive assembly to start and drives the wiping strip to the working position, includes:

[0127] S4031′: Control the flip drive unit to flip towards the side of the surface to be cleaned by a first preset angle to drive the scraper to the working position.

[0128] In this embodiment, the scraper strip has an abutting surface opposite to the surface to be cleaned. The scraper strip is rotatably mounted on the cleaning body, and the flipping drive unit drives the connecting side to flip the scraper strip around its connecting side.

[0129] When the squeegee is switched to the standby state, the control flip drive unit flips the squeegee away from the surface to be cleaned, thereby driving the squeegee to flip around its connecting side. At this time, the squeegee flips into the cleaning body away from the surface to be cleaned, and the contact surface is set at an angle to the surface to be cleaned.

[0130] When the squeegee is switched to working mode, the control flip drive unit flips the squeegee towards the side closer to the surface to be cleaned, thereby driving the squeegee to flip around its connecting side. When the squeegee is flipped towards the side closer to the surface to be cleaned at a first preset angle, the contact surface of the squeegee abuts against the surface to be cleaned, and a portion of the squeegee extends beyond the outer periphery of the cleaning body.

[0131] As mentioned above, the partial extension of the squeegee is intended to scrape the hard-to-reach areas where the surface to be cleaned meets adjacent surfaces. However, in actual cleaning, the adjacent surfaces cannot be guaranteed to be flat. To ensure effective scraping, the squeegee's driving strategy needs to be adjusted based on the flatness of the adjacent surfaces.

[0132] In one embodiment, the scrubbing robot further includes a distance detection sensor for detecting the distance between the edge of the cleaning component and its adjacent surface, and between the outer edge of the cleaning body and its adjacent surface.

[0133] Please see Figure 6 Step S40, which controls the scraper bar to switch to the working state, further includes:

[0134] S404: Obtain the first actual distance between the edge of the cleaned part and the adjacent surface;

[0135] S405: Obtain the second actual distance between the outer edge of the cleaning subject and the adjacent surface;

[0136] S406: Calculate the difference in actual spacing based on the first actual spacing and the second actual spacing;

[0137] S407: Adjust the drive strategy of the scraper strip according to the actual gap difference.

[0138] In this embodiment, a distance detection sensor is provided on the cleaning body. During the cleaning process, the distance detection sensor detects the distance between the edge of the cleaning component and its adjacent surface, as well as the distance between the outer edge of the cleaning body and its adjacent surface, in real time. It is understood that, assuming the adjacent surface is flat, the difference between these two distances is essentially constant, and is configured as the distance between the edge of the cleaning component and the outer edge of the cleaning body. Considering detection errors and the slight flatness errors of the adjacent surface itself, this difference can be set as a range value.

[0139] During the cleaning process, a distance detection sensor continuously monitors the first actual distance between the edge of the cleaning component and its adjacent surface, and the second actual distance between the outer edge of the cleaning body and its adjacent surface. The difference between the first and second actual distances is calculated, and the driving strategy of the squeegee is adjusted based on this difference.

[0140] Specifically, the working position includes a first working position, which is configured such that the scraper abuts against the surface to be cleaned and extends a first length beyond the outer periphery of the self-cleaning body.

[0141] Step S407, which adjusts the drive strategy of the scraper strip based on the actual spacing difference, includes:

[0142] S4071: If the actual spacing difference is within the preset difference range, the adjacent surfaces are determined to be roughly flat.

[0143] S4072: Controls the start of the scraping drive assembly and drives the scraping strip to the first working position.

[0144] In this embodiment, if the actual spacing difference is within a preset difference range, the adjacent surfaces are determined to be basically flat. For flat adjacent surfaces, the squeegee has a first working position. At this time, the squeegee abuts against the surface to be cleaned and extends a first length from the outer periphery of the cleaning body.

[0145] Furthermore, the working position includes a second working position, which is configured such that the scraper abuts against the surface to be cleaned and extends a second length beyond the outer periphery of the self-cleaning body.

[0146] The scraping module also includes a position adjustment component, which is movably located on the cleaning body and is driven to be connected to the scraping drive component.

[0147] Step S407, which adjusts the drive strategy of the scraper bar based on the actual spacing difference, further includes:

[0148] S4071′: If the actual spacing difference exceeds the preset difference range, the adjacent surfaces are determined to be uneven;

[0149] S4072′: Based on the actual gap difference, control the position adjustment component to start and drive the scraping drive component to move to the second target position;

[0150] S4073′: Controls the start of the scraping drive assembly and drives the scraping strip to the second working position.

[0151] In this embodiment, if the actual distance difference exceeds a preset range, the adjacent surface is determined to be uneven, for example, there is a protrusion in a local area of ​​the adjacent surface. When the cleaning body moves to its limit position, its outer periphery actually contacts the protrusion rather than the adjacent surface. At this time, the scraping strip needs to extend a longer length to scrape the cleaning dead corners at the adjacent positions of the surface to be cleaned and the adjacent surface.

[0152] By setting the position adjustment component, when unevenness is detected on the adjacent surfaces, the position adjustment component is activated, driving the scraping drive component to move to the second target position. At this time, the scraping drive component and the scraping strip are closer to the outer periphery of the cleaning body. The scraping drive component is then activated, driving the scraping strip to move to the second working position. At this time, the scraping strip abuts against the surface to be cleaned, and its length extending from the outer periphery of the cleaning body is longer, thereby achieving the scraping of cleaning dead corners at the adjacent positions of the surface to be cleaned and the adjacent surfaces.

[0153] During the cleaning process described above, if you encounter large or irremovable foreign objects, forcibly scraping them off may damage the squeegee or the surface to be cleaned.

[0154] To address this issue, in one embodiment, the scrubbing robot includes a pressure sensor located on the scrubbing strip for detecting foreign object resistance encountered by the scrubbing strip during the movement of the walking module.

[0155] Please see Figure 7 Step S40, which adjusts the control strategy of the walking module and the scraping module, further includes:

[0156] S408: Obtain the actual resistance from foreign objects encountered by the scraper strip;

[0157] S409: Adjust the control strategies of the walking module and the scraping module according to the target resistance threshold and the actual foreign object resistance.

[0158] Specifically, the target resistance threshold includes a minimum resistance threshold and a maximum resistance threshold;

[0159] Step S409, which adjusts the control strategies of the walking module and the scraping module based on the target resistance threshold and the actual foreign object resistance, includes:

[0160] S4091: When the actual resistance of the foreign object is less than the minimum resistance threshold, control the walking module to maintain the first speed of walking and control the scraper to maintain the first pressure contact with the surface to be cleaned.

[0161] S4092: When the actual foreign object resistance is greater than the minimum resistance threshold and less than the maximum resistance threshold, the walking module is controlled to walk at the second speed, and the scraper is controlled to move to contact the surface to be cleaned with the second pressure, wherein the second speed is less than the first speed and the second pressure is greater than the first pressure;

[0162] S4093: When the actual resistance of the foreign object is greater than the maximum resistance threshold, the foreign object is marked as a wall, and the walking module is controlled to change direction and continue cleaning around it.

[0163] In this embodiment, a pressure sensor detects the actual resistance from foreign objects encountered by the scraper strip. A minimum resistance threshold and a maximum resistance threshold are also set.

[0164] Initially, the walking module moves at a first speed, and the scraper blade contacts the surface to be cleaned with a first pressure. When the actual resistance to foreign objects is less than the minimum resistance threshold, it means that the scraper blade has not encountered any foreign objects or has encountered easily scraped-off foreign objects. At this time, there is no need to adjust the control strategies of the walking module and the scraper module. The walking module is controlled to maintain the first speed, and the scraper blade is controlled to maintain the first pressure contact with the surface to be cleaned. It should be noted that the first speed here can be set to the second target speed mentioned above; the first pressure can be set to the second target pressure mentioned above.

[0165] When the actual resistance from the foreign object is greater than the minimum resistance threshold but less than the maximum resistance threshold, it indicates that the scraper has encountered a stubborn and difficult-to-remove foreign object. The control module moves at a second speed, controlling the scraper to move until it comes into contact with the surface to be cleaned with a second pressure. The second speed is less than the first speed, and the second pressure is greater than the first pressure. It should be noted that the second speed here can be set to the aforementioned third target speed; the second pressure can be set to the aforementioned third target pressure.

[0166] In other words, when the actual resistance from foreign objects is high, the walking module's speed can be reduced while increasing the contact pressure between the front scraper and the surface to be cleaned. This increased contact pressure allows the scraper to smoothly remove stubborn foreign objects, while reducing the cleaning unit's walking speed not only prevents damage to the scraper due to sudden obstruction but also extends the scraping time and improves the scraping effect.

[0167] When the actual resistance from a foreign object exceeds the maximum resistance threshold, it indicates that the squeegee has encountered an unremovable object. Forcing removal at this point will damage the squeegee or the surface to be cleaned. By marking the object as a wall and controlling the walking module to change direction and bypass it for continued cleaning, damage to the squeegee due to excessive resistance can be avoided.

[0168] Specifically, the cleaning robot also includes a voice broadcast module, and the alarm module is located on the cleaning body.

[0169] The cleaning methods of the cleaning robot also include:

[0170] S4094: When the actual resistance of the foreign object is greater than the maximum resistance threshold, control the voice broadcast module to turn on to remind the user.

[0171] In other words, when the actual resistance of a foreign object is detected to be greater than the maximum resistance threshold, the voice broadcast module can be activated to remind the user to check, and if necessary, the foreign object on the surface to be cleaned can be manually removed so that the cleaning unit can smoothly carry out subsequent cleaning tasks.

[0172] It should be noted that there is no explicit order between steps S4093 and S4094. The walking module can be controlled to navigate around obstacles first, and then the voice broadcast module can be activated. Alternatively, the voice broadcast module can be activated first, and then the walking module can be controlled to navigate around obstacles. Furthermore, the voice broadcast module can be activated simultaneously with the walking module navigating around obstacles.

[0173] In another embodiment, the scrubbing robot further includes a wireless transmission module, which is communicatively connected to the controller of the scrubbing robot and is used for wireless communication with a mobile terminal.

[0174] The cleaning method of the cleaning robot also includes:

[0175] S4094′: When the actual foreign object resistance is greater than the maximum resistance threshold, control the wireless transmission module to send a cleaning abnormality reminder signal to the mobile terminal.

[0176] In other words, when the detected resistance from a foreign object exceeds the maximum resistance threshold, the wireless transmission module can be activated to send a cleaning anomaly alert signal to the mobile terminal. Users can view this alert signal to understand the foreign object situation and the current status of the cleaning robot. If necessary, users can manually remove foreign objects from the surface to be cleaned to facilitate subsequent cleaning tasks.

[0177] Similarly, there is no clear order between steps S4093 and S4094'.

[0178] In one embodiment, the scrubbing robot further includes a gyroscope sensor and an accelerometer sensor. The gyroscope sensor is located at the geometric center of the cleaning body to detect the rotation angle and angular velocity of the cleaning body, and the accelerometer sensor is located at the bottom of the cleaning body to detect the acceleration of the cleaning body.

[0179] Step S30, which involves obtaining the current walking direction of the cleaning subject, includes:

[0180] S301: Obtain the current rotation angle and current angular velocity of the cleaning subject;

[0181] S302: Obtain the current acceleration of the cleaning subject;

[0182] S303: Obtain the current walking direction of the cleaning subject based on the current rotation angle, current angular velocity, and current acceleration.

[0183] In this embodiment, by setting up a gyroscope sensor and an accelerometer sensor, the current rotation angle, current angular velocity, and current acceleration can be accurately determined. When the cleaning robot starts, the initial heading angle needs to be determined (which can be set to 0° as a reference). At this time, the direction of gravity is detected by the accelerometer sensor to ensure that the robot is in a horizontal posture (eliminating the influence of tilt on the gyroscope), and the initial zero drift of the gyroscope (the small angular velocity error when stationary) is recorded at the same time.

[0184] When the robot walks, the gyroscope outputs the Z-axis angular velocity (ω) in real time. z Through integration (Δθ=∫ω) z d t ), which yields the cumulative rotation angle relative to the initial direction (i.e., the current heading angle θ): if ω z For positive (counterclockwise rotation), θ increases; if ω z When ω is negative (clockwise rotation), θ decreases. When moving in a straight line, ω...z ≈0, θ remains unchanged, meaning the direction remains unchanged. Example: Initial heading 0°, the robot rotates 90° clockwise (ω... z If the value is negative, and after integration Δθ = -90°, then the current heading is -90° (i.e., a 90° rightward turn). This allows us to detect the current direction of travel of the cleaning subject.

[0185] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A scrubbing method of a scrubbing robot, characterized in that, The scrubbing robot comprises a cleaning body and a scraping module, the cleaning body is attached to a surface to be cleaned, and a bottom of the cleaning body is provided with a cleaning element for the surface to be cleaned, and a walking module for walking on the surface to be cleaned is further provided on the cleaning body, the scraping module comprises a scraping strip movably arranged on an outer periphery of the cleaning body, the scraping strip has a working state of abutting against the surface to be cleaned and a waiting state of being separated from the surface to be cleaned, and a scrubbing method of the scrubbing robot comprises the following steps: receiving a cleaning instruction; controlling the cleaning body to perform a corresponding cleaning operation mode according to a type of the cleaning instruction; obtaining a current walking direction of the cleaning body; determining a front side of the cleaning body according to the current walking direction, and adjusting a control strategy of the walking module and the scraping module to at least switch the scraping strip located at the front side to the working state.

2. The scrubbing method of the scrubbing robot according to claim 1, characterized in that, The scraping module comprises a scraping driving assembly movably arranged on the cleaning body and drivingly connected to the scraping strip; The step of controlling the scraping strip to switch to the working state comprises: controlling the scraping driving assembly to start and drive the scraping strip to move to a working position, so that the scraping strip is in the working state, wherein the working position is configured as a position that the scraping strip abuts against the surface to be cleaned and locally extends out of the outer periphery of the cleaning body.

3. The scrubbing method of the scrubbing robot according to claim 2, characterized in that, The cleaning body has a bottom surface abutting against the surface to be cleaned, the scraping driving assembly comprises a lifting driving part arranged in the cleaning body, the lifting driving part is arranged at an acute angle with the bottom surface, and the lifting driving part is linearly movable and drivingly connected to the scraping strip; The step of controlling the scraping driving assembly to start and drive the scraping strip to move to the working position comprises: controlling the lifting driving part to move towards the surface to be cleaned by a first preset distance to drive the scraping strip to move to the working position.

4. The scrubbing method of the scrubbing robot according to claim 2, characterized in that, The scraping strip has opposite connecting sides and scraping sides; The scraping module comprises a turnover driving part movably arranged in the cleaning body, the turnover driving part is drivingly connected to the connecting sides to make the scraping strip turn over around the connecting sides; The step of controlling the scraping driving assembly to start and drive the scraping strip to move to the working position comprises: controlling the turnover driving part to turn over towards the surface to be cleaned by a first preset angle to drive the scraping strip to move to the working position.

5. The scrubbing method of the scrubbing robot according to claim 2, characterized in that, The scrubbing robot further comprises a distance detection sensor for detecting a distance between an edge of the cleaning element and an abutting surface of the surface to be cleaned and a distance between an outer edge of the cleaning body and the abutting surface of the surface to be cleaned; The step of controlling the scraping strip to switch to the working state further comprises: obtaining a first actual distance between the edge of the cleaning element and the abutting surface; obtaining a second actual distance between the outer edge of the cleaning body and the abutting surface; calculating an actual distance difference value according to the first actual distance and the second actual distance; adjusting a driving strategy of the scraping strip according to the actual distance difference value.

6. The scrubbing method of a scrubbing robot according to claim 5, characterized in that, The working position comprises a first working position, and the first working position is configured as a position that the scraping strip abuts against the surface to be cleaned and extends out of the outer periphery of the cleaning body by a first length. According to the actual distance difference, the step of adjusting the driving strategy of the scraping strip comprises: If the actual distance difference is within a preset distance difference range, it is determined that the adjacent surface is substantially flat; The scraping drive assembly is controlled to start and drive the scraping strip to move to the first working position.

7. The scrubbing method of the scrubbing robot according to claim 5, characterized in that, The working position comprises a second working position, and the second working position is configured as a position where the scraping strip abuts against the surface to be cleaned and extends outward from the periphery of the cleaning body by a second length; The scraping module further comprises a position adjustment assembly movably arranged on the cleaning body and drivingly connected to the scraping drive assembly; According to the actual distance difference, the step of adjusting the driving strategy of the scraping strip further comprises: If the actual distance difference is outside the preset distance difference range, it is determined that the adjacent surface is not flat; According to the actual distance difference, the position adjustment assembly is controlled to start and drive the scraping drive assembly to move to a second target position; The scraping drive assembly is controlled to start and drive the scraping strip to move to the second working position.

8. The scouring method of the scouring robot according to any one of claims 2 to 7, characterized in that, The step of adjusting the control strategy of the scraping module further comprises: The scraping strip located on the front side is switched to the working state; The scraping strips located on the remaining sides are switched to the standby state.

9. The scrubbing method of a scrubbing robot according to any one of claims 2 to 7, characterized in that, The step of adjusting the control strategy of the scraping module further comprises: The scraping strip located on the front side is switched to the working state; The scraping strips located on the remaining sides are switched to the working state.

10. The scouring method of the scouring robot according to claim 1, wherein The scrubbing robot comprises a pressure sensor arranged on the scraping strip, which is used to detect the foreign matter resistance received by the scraping strip during movement of the walking module; The step of adjusting the control strategy of the walking module and the scraping module further comprises: An actual foreign matter resistance received by the scraping strip is obtained; According to a target resistance threshold and the actual foreign matter resistance, the control strategy of the walking module and the scraping module is adjusted.

11. The scouring method of the scouring robot according to claim 10, wherein The target resistance threshold comprises a minimum resistance threshold and a maximum resistance threshold; According to a target resistance threshold and the actual foreign matter resistance, the step of adjusting the control strategy of the walking module and the scraping module comprises: When the actual foreign matter resistance is less than the minimum resistance threshold, the walking module is controlled to move at a first speed, and the scraping strip is controlled to abut against the surface to be cleaned at a first pressure; When the actual foreign matter resistance is greater than the minimum resistance threshold and less than the maximum resistance threshold, the walking module is controlled to move at a second speed, and the scraping strip is controlled to move to abut against the surface to be cleaned at a second pressure, wherein the second speed is less than the first speed, and the second pressure is greater than the first pressure; When the actual foreign matter resistance is greater than the maximum resistance threshold, the foreign matter is marked as a wall, and the walking module is controlled to change direction and continue cleaning by detouring.

12. The scouring method of the scouring robot according to claim 11, wherein, The target resistance threshold comprises a maximum resistance threshold; The scrubbing robot further comprises a voice broadcast module arranged on the cleaning body; The scrubbing method of the scrubbing robot further comprises: When the actual foreign matter resistance is greater than the maximum resistance threshold, the voice broadcast module is controlled to be turned on to remind the user.

13. The scouring method of the scouring robot according to claim 11, wherein, The target resistance threshold comprises a maximum resistance threshold; The scrubbing robot further comprises a wireless transmission module, which is in communication connection with the controller of the scrubbing robot and is configured to perform wireless communication with a mobile terminal; The scrubbing method of the scrubbing robot further comprises: When the actual foreign matter resistance is greater than the maximum resistance threshold, the wireless transmission module is controlled to send a scrubbing abnormality reminding signal to the mobile terminal.

14. The scouring method of the scouring robot according to claim 1, wherein, The scrubbing robot further comprises a gyroscope sensor and an acceleration sensor, the gyroscope sensor is arranged at the geometric center of the cleaning body to detect the rotation angle and angular velocity of the cleaning body, and the acceleration sensor is arranged at the bottom of the cleaning body to detect the acceleration of the cleaning body; The step of obtaining the current walking direction of the cleaning body comprises: obtaining the current rotation angle and the current angular velocity of the cleaning body; obtaining the current acceleration of the cleaning body; obtaining the current walking direction of the cleaning body according to the current rotation angle, the current angular velocity and the current acceleration.

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